Motor Current Controller (rm_motor_current)

Functions
fsp_err_t	RM_MOTOR_CURRENT_Open (motor_current_ctrl_t *const p_ctrl, motor_current_cfg_t const *const p_cfg)
	Opens and configures the Motor Current Module. Implements motor_current_api_t::open. More...
fsp_err_t	RM_MOTOR_CURRENT_Close (motor_current_ctrl_t *const p_ctrl)
	Disables specified Motor Current Module. Implements motor_current_api_t::close. More...
fsp_err_t	RM_MOTOR_CURRENT_Reset (motor_current_ctrl_t *const p_ctrl)
	Reset variables of Motor Current Module. Implements motor_current_api_t::reset. More...
fsp_err_t	RM_MOTOR_CURRENT_Run (motor_current_ctrl_t *const p_ctrl)
	Run(Start) the Current Control. Implements motor_current_api_t::run. More...
fsp_err_t	RM_MOTOR_CURRENT_ParameterSet (motor_current_ctrl_t *const p_ctrl, motor_current_input_t const *const p_st_input)
	Set (Input) Parameter Data. Implements motor_current_api_t::parameterSet. More...
fsp_err_t	RM_MOTOR_CURRENT_CurrentReferenceSet (motor_current_ctrl_t *const p_ctrl, float const id_reference, float const iq_reference)
	Set Current Reference Data. Implements motor_current_api_t::currentReferenceSet. More...
fsp_err_t	RM_MOTOR_CURRENT_SpeedPhaseSet (motor_current_ctrl_t *const p_ctrl, float const speed, float const phase)
	Set Current Speed & rotor phase Data. Implements motor_current_api_t::speedPhaseSet. More...
fsp_err_t	RM_MOTOR_CURRENT_CurrentSet (motor_current_ctrl_t *const p_ctrl, motor_current_input_current_t const *const p_st_current, motor_current_input_voltage_t const *const p_st_voltage)
	Set d/q-axis Current & Voltage Data. Implements motor_current_api_t::currentSet. More...
fsp_err_t	RM_MOTOR_CURRENT_ParameterGet (motor_current_ctrl_t *const p_ctrl, motor_current_output_t *const p_st_output)
	Get Output Parameters. Implements motor_current_api_t::parameterGet. More...
fsp_err_t	RM_MOTOR_CURRENT_CurrentGet (motor_current_ctrl_t *const p_ctrl, float *const p_id, float *const p_iq)
	Get d/q-axis Current. Implements motor_current_api_t::currentGet. More...
fsp_err_t	RM_MOTOR_CURRENT_PhaseVoltageGet (motor_current_ctrl_t *const p_ctrl, motor_current_get_voltage_t *const p_voltage)
	Gets the set phase voltage. Implements motor_current_api_t::phaseVoltageGet. More...
fsp_err_t	RM_MOTOR_CURRENT_ParameterUpdate (motor_current_ctrl_t *const p_ctrl, motor_current_cfg_t const *const p_cfg)
	Update the parameters of Current Control. Implements motor_current_api_t::parameterUpdate. More...
void	rm_motor_current_encoder_cyclic (motor_current_instance_t const *p_ctrl)

Detailed Description

Calculation process for the motor control on RA MCUs. This module implements the Motor current Interface.

Overview

The motor current is used to control the electric current of motor rotation in an appication. This module should be called cyclically after the A/D conversion of electric current of each phase in an application. This module calculates each phase voltage with input current reference, electric current and rotor angle.

Features

The Motor Current Module has below features.

• Calculate each phase(U/V/W) voltage.
• Decoupling Control.
• Voltage Error Compensation.

Configuration

Build Time Configurations for rm_motor_current

The following build time configurations are defined in fsp_cfg/rm_motor_current_cfg.h:

Configuration	Options	Default	Description
Parameter Checking	Default (BSP) Enabled Disabled	Default (BSP)	If selected code for parameter checking is included in the build.

Configurations for Motor > Motor Current Controller (rm_motor_current)

This module can be added to the Stacks tab via New Stack > Motor > Motor Current Controller (rm_motor_current).

Configuration	Options	Default	Description
General
Name	Name must be a valid C symbol	g_motor_current0	Module name.
Sensor type	Sensorless Encoder Induction Hall	Sensorless	Select sensor type
Shunt type	1 shunt 2 shunt 3 shunt	2 shunt	Select shunt type
Current control decimation	Must be a valid non-negative value.	0	Decimation of current control.
PWM carrier frequency (kHz)	Must be a valid value	20.0F	PWM carrier frequency.
Input voltage (V)	Must be a valid value	24.0F	Input voltage for limitation of current PI control.
Sample delay compensation	Disable Enable	Enable	Select enable/disable sample delay compensation.
Period magnification value	Must be a valid non-negative value.	1.5	Period magnification value for sampling delay compensation.
Voltage error compensation	Disable Enable	Enable	Select enable/disable voltage error compensation.
Voltage error compensation table of voltage 1	Must be a valid value	0.672F	Voltage error compensation table of voltage.
Voltage error compensation table of voltage 2	Must be a valid value	0.945F	Voltage error compensation table of voltage.
Voltage error compensation table of voltage 3	Must be a valid value	1.054F	Voltage error compensation table of voltage.
Voltage error compensation table of voltage 4	Must be a valid value	1.109F	Voltage error compensation table of voltage.
Voltage error compensation table of voltage 5	Must be a valid value	1.192F	Voltage error compensation table of voltage.
Voltage error compensation table of current 1	Must be a valid value	0.013F	Voltage error compensation table of current.
Voltage error compensation table of current 2	Must be a valid value	0.049F	Voltage error compensation table of current.
Voltage error compensation table of current 3	Must be a valid value	0.080F	Voltage error compensation table of current.
Voltage error compensation table of current 4	Must be a valid value	0.184F	Voltage error compensation table of current.
Voltage error compensation table of current 5	Must be a valid value	0.751F	Voltage error compensation table of current.
Interrupts
Callback	Name must be a valid C symbol	NULL	A user callback function. If this callback function is provided, it is called at A/D conversion finish interrupt.
Design Parameter
Current PI loop omega (Hz)	Must be a valid value	300.0F	Current PI loop omega
Current PI loop zeta	Must be a valid value	1.0F	Current PI loop zeta
Motor Parameter
Pole pairs	Must be a valid non-negative value.	2	Pole pairs
Resistance (ohm)	Must be a valid value	8.5F	Resistance
Inductance of d-axis (H)	Must be a valid value	0.0045F	Inductance of d-axis
Inductance of q-axis (H)	Must be a valid value	0.0045F	Inductance of q-axis
Permanent magnetic flux (Wb)	Must be a valid value	0.02159F	Permanent magnetic flux
Motor Parameter > Rotor inertia (kgm^2)	Must be a valid value	0.0000028F	Rotor inertia

Clock Configuration

This module doesn't depend on clock setting, because this module is a simple calculation process.

Pin Configuration

This module does not use I/O pins.

Usage Notes

Limitations

• Set the Period of Current Control with none-negative value.
• Set the Reference Voltage with none-negative value.

Examples

Basic Example

This is a basic example of minimal use of the Motor Current in an application.

void motor_current_basic_example (void)
{
    motor_current_input_current_t temp_input_current;
    motor_current_input_voltage_t temp_input_voltage;
    motor_current_get_voltage_t   temp_get_voltage;

    fsp_err_t err = FSP_SUCCESS;


    /* Initializes the module. */
    err = RM_MOTOR_CURRENT_Open(g_test_motor_current.p_ctrl, g_test_motor_current.p_cfg);


    assert(FSP_SUCCESS == err);

    /* Basically run this module at A/D conversion finish interrupt.
     * This implementation is an example. */

    // while (true)
    {
        /* Application work here. */


        /* Set current reference before get phase voltage */
        (void) RM_MOTOR_CURRENT_CurrentReferenceSet(g_test_motor_current.p_ctrl, 1.0F, 1.0F);



        /* Set speed and phase data before get phase voltage */
        (void) RM_MOTOR_CURRENT_SpeedPhaseSet(g_test_motor_current.p_ctrl, 104.72F, 1.0F);



        temp_input_current.iu     = 1.0F;
        temp_input_current.iv     = 1.0F;
        temp_input_current.iw     = 1.0F;
        temp_input_voltage.vdc    = 24.0F;
        temp_input_voltage.va_max = 24.0F;

        /* Set electric current and voltage before get phase voltage */
        (void) RM_MOTOR_CURRENT_CurrentSet(g_test_motor_current.p_ctrl, temp_input_current, temp_input_voltage);



        /* Activate the process. */
        (void) RM_MOTOR_CURRENT_Run(g_test_motor_current.p_ctrl);



        /* Get d/q-axis current*/
        (void) RM_MOTOR_CURRENT_CurrentGet(g_test_motor_current.p_ctrl, &f_get_id, &f_get_iq);



        /* Get the flag of PI control */
        (void) RM_MOTOR_CURRENT_PhaseVolageGet(g_test_motor_current.p_ctrl, &temp_get_voltage);



        /* Get Output Parameter */
        (void) RM_MOTOR_CURRENT_ParameterGet(g_test_motor_current.p_ctrl, &test_output);



        (void) RM_MOTOR_CURRENT_ParameterUpdate(g_test_motor_current.p_ctrl, g_test_motor_current.p_cfg);

    }


    /* Reset the process. */
    (void) RM_MOTOR_CURRENT_Reset(g_test_motor_current.p_ctrl);



    /* Close the module. */
    (void) RM_MOTOR_CURRENT_Close(g_test_motor_current.p_ctrl);

}

Enumerations
enum	motor_current_shunt_type_t

Enumeration Type Documentation

motor_current_shunt_type_t

enum motor_current_shunt_type_t

Selection of shunt type

Enumerator
MOTOR_CURRENT_SHUNT_TYPE_1_SHUNT	Only use U phase current.
MOTOR_CURRENT_SHUNT_TYPE_2_SHUNT	Use U and W phase current.
MOTOR_CURRENT_SHUNT_TYPE_3_SHUNT	Use all phase current.

Function Documentation

RM_MOTOR_CURRENT_Open()

fsp_err_t RM_MOTOR_CURRENT_Open	(	motor_current_ctrl_t *const	p_ctrl,
		motor_current_cfg_t const *const	p_cfg
	)

Opens and configures the Motor Current Module. Implements motor_current_api_t::open.

Return values

FSP_SUCCESS	Motor Current successfully configured.
FSP_ERR_ASSERTION	Null pointer, or one or more configuration options is invalid.
FSP_ERR_ALREADY_OPEN	Module is already open. This module can only be opened once.
FSP_ERR_INVALID_ARGUMENT	Configuration parameter error.

RM_MOTOR_CURRENT_Close()

fsp_err_t RM_MOTOR_CURRENT_Close

(

motor_current_ctrl_t *const

p_ctrl

)

Disables specified Motor Current Module. Implements motor_current_api_t::close.

Return values

FSP_SUCCESS	Successfully closed.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.

RM_MOTOR_CURRENT_Reset()

fsp_err_t RM_MOTOR_CURRENT_Reset

(

motor_current_ctrl_t *const

p_ctrl

)

Reset variables of Motor Current Module. Implements motor_current_api_t::reset.

Return values

FSP_SUCCESS	Successfully reset.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.

RM_MOTOR_CURRENT_Run()

fsp_err_t RM_MOTOR_CURRENT_Run

(

motor_current_ctrl_t *const

p_ctrl

)

Run(Start) the Current Control. Implements motor_current_api_t::run.

Return values

FSP_SUCCESS	Successfully run.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.

RM_MOTOR_CURRENT_ParameterSet()

fsp_err_t RM_MOTOR_CURRENT_ParameterSet	(	motor_current_ctrl_t *const	p_ctrl,
		motor_current_input_t const *const	p_st_input
	)

Set (Input) Parameter Data. Implements motor_current_api_t::parameterSet.

Return values

FSP_SUCCESS	Successfully data is set.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.
FSP_ERR_INVALID_ARGUMENT	Input argument error.

RM_MOTOR_CURRENT_CurrentReferenceSet()

fsp_err_t RM_MOTOR_CURRENT_CurrentReferenceSet	(	motor_current_ctrl_t *const	p_ctrl,
		float const	id_reference,
		float const	iq_reference
	)

Set Current Reference Data. Implements motor_current_api_t::currentReferenceSet.

Return values

FSP_SUCCESS	Successfully data is set.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.

RM_MOTOR_CURRENT_SpeedPhaseSet()

fsp_err_t RM_MOTOR_CURRENT_SpeedPhaseSet	(	motor_current_ctrl_t *const	p_ctrl,
		float const	speed,
		float const	phase
	)

Set Current Speed & rotor phase Data. Implements motor_current_api_t::speedPhaseSet.

Return values

FSP_SUCCESS	Successfully data is set.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.

RM_MOTOR_CURRENT_CurrentSet()

fsp_err_t RM_MOTOR_CURRENT_CurrentSet	(	motor_current_ctrl_t *const	p_ctrl,
		motor_current_input_current_t const *const	p_st_current,
		motor_current_input_voltage_t const *const	p_st_voltage
	)

Set d/q-axis Current & Voltage Data. Implements motor_current_api_t::currentSet.

Return values

FSP_SUCCESS	Successfully data is set.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.
FSP_ERR_INVALID_ARGUMENT	Input parameter error.

RM_MOTOR_CURRENT_ParameterGet()

fsp_err_t RM_MOTOR_CURRENT_ParameterGet	(	motor_current_ctrl_t *const	p_ctrl,
		motor_current_output_t *const	p_st_output
	)

Get Output Parameters. Implements motor_current_api_t::parameterGet.

Return values

FSP_SUCCESS	Successful data get.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.
FSP_ERR_INVALID_ARGUMENT	Input parameter error.

RM_MOTOR_CURRENT_CurrentGet()

fsp_err_t RM_MOTOR_CURRENT_CurrentGet	(	motor_current_ctrl_t *const	p_ctrl,
		float *const	p_id,
		float *const	p_iq
	)

Get d/q-axis Current. Implements motor_current_api_t::currentGet.

Return values

FSP_SUCCESS	Successful data get.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.
FSP_ERR_INVALID_ARGUMENT	Input parameter error.

RM_MOTOR_CURRENT_PhaseVoltageGet()

fsp_err_t RM_MOTOR_CURRENT_PhaseVoltageGet	(	motor_current_ctrl_t *const	p_ctrl,
		motor_current_get_voltage_t *const	p_voltage
	)

Gets the set phase voltage. Implements motor_current_api_t::phaseVoltageGet.

Return values

FSP_SUCCESS	Successful data calculation.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.
FSP_ERR_INVALID_ARGUMENT	Input parameter error.

RM_MOTOR_CURRENT_ParameterUpdate()

fsp_err_t RM_MOTOR_CURRENT_ParameterUpdate	(	motor_current_ctrl_t *const	p_ctrl,
		motor_current_cfg_t const *const	p_cfg
	)

Update the parameters of Current Control. Implements motor_current_api_t::parameterUpdate.

Return values

FSP_SUCCESS	Successfully data was updated.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.

rm_motor_current_encoder_cyclic()

void rm_motor_current_encoder_cyclic

(

motor_current_instance_t const *

p_ctrl

)

(end addtogroup MOTOR_CURRENT)